# Changelog All notable changes to this project will be documented in this file. The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html). ## [Unreleased] ### Added ### Changed ### Fixed ### Removed ## [1.5.3] - 2023.02.16 ### Fixed - [#45042] Fix scanlines overwriting in image creation with the scanline preserving only up ## [1.5.2] - 2022.11.24 ### Changed - [#40050] Update readme - [#39667] Range and intensity image is created based on strongest return ### Fixed - [#39667] Fix stripes in images generated for scanline preserving and angle preserving ## [1.5.1] - 2022.07.05 ### Added - [#40410] Add information about point_id image in README ## [1.5.0] - 2022.06.29 ### Added - [#37666] Added return id to point cloud fields if multi return is activated (returns_publishing_options: "all") - [#38464] Added creation of point id image - [#39345] Added meters per second squared as a unit option for imu acceleration ### Changed - [#38314] Update pointers usage ## [1.4.5] - 2022.01.24 ### Fixed - Fix intensity type ## [1.4.4] - 2022.01.21 ### Changed - [#35609] service names are configurable in live_scanner.launch and live_scanner_nodelet.launch files - [#35909] Imu static tf service returns transformation as service response ## [1.4.3] - 2021.11.02 ### Changed - Move SetScanPattern header reference from blickfeld_driver_ros_types to blickfeld_driver ## [1.4.2] - 2021.10.28 ### Changed - Update readme ## [1.4.1] - 2021.10.28 ### Fixed - update ros blickfeld driver core submodule ## [1.4.0] - 2021.10.28 ### Added - [closes #31485] Publish IMU data as ros IMU message - [closes #31486] Publish IMU static data as static TF transform ### Changed - Target names and class names have blickfeld as prefix - [closes #32741] Create custom message for setScanPatternService call in ros core - [closes #31485] Upgrade bsl version to 2.18.2 - [closes #31485] bsl version in ci_pipeline was changed to 2.18.2 ### Fixed - Fixed missing dependency on set scan pattern service call message, fixes compile error on first compilation - Adding the range, intensity and ambient image topic names in launch file ## [1.3.2] - 2021.07.26 ### Fixed - [closes #31131] Fix the "pure virtual method called" message ## [1.3.1] - 2021.06.30 ### Fixed - [closes #31158] Add submodule source code in the artifact ## [1.3.0] - 2021.06.25 ### Added - [closes #27988] Add support for configuration of on-device algorithms. This feature requires **BSL >= 2.17.0**. - [closes #30587] Added support for range, intensity and ambient 2D image creation - [closes #30443] Add ros_blickfeld_driver_core as submodule ### Changed - [closes #30443] Move the ros1_ros2 common functionalities to a new repository (ros_blickfeld_driver_core) ### Removed - Scanline ID was removed from point cloud published field options ## [1.2.3] - 2021.02.01 ### Changed - Updated documentation, switched Note with Default column in parameters table ## [1.2.2] - 2021.01.28 ### Added - Added support for for ROS Noetic. Tested with **BSL 2.13.0** - Ability to support different options to **publish multiple returns** from a lidar pulse. Possible values are: strongest first last and all ### Changed - Multi-return options to support different options - Updated documentation - Enforce non-standalone BSL. Shows CMake error if BSL without required protocol files is configured. - [closes #27875] Clarify documentation about ROS driver sources ### Removed - Removed support for ROS Kinetic ## [1.2.1] - 2020.09.08 ### Changed Fix azimuth angle for no return points ## [1.2.0] - 2020.07.17 ### Added - Enhance time debug information on ROS debug - ticket [22666] - Automatic ci release process - ticket [23492] ## [1.1.1] - 2020.06.25 ### Changed - Updated documentation ## [1.1.0] - 2020.04.26 ### Added - Multi-return options - BSD 3-clause license - Debug and warning info frame index ### Changed - Replaced the row_id with scanline_id to be compliant with protobuf_protocol - Replaced the column_id with scanline_point_index to represent the point index in a scanline - Unified the usage publish_time_delta ## [1.0.0] - 2020.04.06 ### Added - Ability to publish explicit range of points - Ability to publish Blickfeld PointID (global ID in the frame), ScanLineID (= row_id) and column_id - Publish diagnostics data - Ability to publish point measurement time as [`start_offset_ns`](http://enduser-software.pages.muc.blickfeld.com/blickfeld-scanner-lib/protobuf_protocol.html#point) as point field - Ability to publish multi return points - Ability to publish under canonical topic names (names ending with `_in`/`_out` for input/output topics) ### Changed - update the use of point cloud term - ticket [18362] ## [0.3.0] - 2019.10.30 ### Added - Ability to publish intensities, ambient light level, and point without return - Multiple return support - Try to reconnect after connection loss ### Changed - Adopt to new BSL API - Publish PointCloud2::ConstPtr to make full use of nodelets ### Removed - Burst mode - Old launch files - Read from dump since BSL does not support it, yet